CN107015420A - Lens driving apparatus and lens driving method - Google Patents
Lens driving apparatus and lens driving method Download PDFInfo
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- CN107015420A CN107015420A CN201710057332.7A CN201710057332A CN107015420A CN 107015420 A CN107015420 A CN 107015420A CN 201710057332 A CN201710057332 A CN 201710057332A CN 107015420 A CN107015420 A CN 107015420A
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Classifications
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
- G03B13/34—Power focusing
- G03B13/36—Autofocus systems
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/09—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted for automatic focusing or varying magnification
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/08—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted to co-operate with a remote control mechanism
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/28—Systems for automatic generation of focusing signals
- G02B7/36—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals
- G02B7/365—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals by analysis of the spatial frequency components of the image
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
- Lens Barrels (AREA)
Abstract
Lens driving apparatus and lens driving method are provided.Prevent makes the driving of camera lens unstable when the work of camera lens starts.Lens driving apparatus has：Stepper motor (6), it is driven to camera lens；On-position change signal generation processing #11, it indicates the rotation position of stepper motor；GMR (9), it detects the rotation position of stepper motor；And follow the trail of delayed calculating #3, it calculates according to the difference of position detection information and on-position change signal generation the processing #11 detected by GMR the positional informations indicated and follows the trail of delayed, on-position change signal generation processing #11 is allowed hand over carries out the opened loop control of position instruction and according to the delayed closed-loop control for carrying out position instruction of tracking with pre-determined pattern, when the work of camera lens starts, using opened loop control according to fixed velocity mode to making the speed that the position of stepper motor is advanced be changed and be accelerated, after speed corresponding with velocity mode reaches setting, it is transferred to closed-loop control.
Description
Technical field
The present invention relates to the dress of the lens driving in camera device of the one-piece type camera device of camera lens and lens-interchangeable etc.
Put and lens driving method.
Background technology
In the camera devices such as digital camera, with the high speed and high pixelation of photographing element, it is desirable to auto-focusing
High speed and high precision int.Also, heavy caliber and the longer telephoto lens of bright camera lens, focal length, to shoot multiplying power higher
The requirement of the first-class camera lens with feature of Macro Lens is improved.Therefore, for the drive device of focus lens, it is desirable to it is mobile not only big but also
The camera lens of weight, or high-speed mobile longer stroke.
In the driving of focus lens, from the viewpoint of cost or size, mostly using stepper motor.In stepper motor
In, relative to load, when excessive velocities, phenomenon as step-out is produced sometimes.When producing step-out, indicated position and
Deviation occurs between physical location, so, relative to the load assumed in design, it is ensured that sufficient safety coefficient is maximum fast to determine
Degree.
When considering step-out to ensure sufficient safety coefficient, it is impossible to transfer the performance of stepper motor, efficiency to greatest extent
It is not high.Therefore, proposed in Japan Kokai 2001-178193 publications (hereinafter referred to as " patent document 1 ") such as lower section
Method：The install sensor on stepper motor, detects the rotation position of stepper motor all the time, carries out feedback control to cause and motor
The difference of position command signal is zero, and the performance of stepper motor is transferred to greatest extent.
The content of the invention
The invention problem to be solved
In the lens driving apparatus disclosed in patent document 1, feedback control, i.e. is carried out from the starting of stepper motor
All the time feedback control is carried out.In the case where carrying out feedback control all the time, the work relative to the position command signal of motor is opened
Begin, make the tracking of load delayed due to friction of rest and inertia, so, the difference of the position command signal of current location and motor
Temporarily increase, drastically the speed of controlled motor and direction of rotation are to offset this species diversity.Therefore, produce extreme speed reduction or
Temporary transient reversal development, feedback control is unstable, can not smoothly start action in a short time sometimes.And then, even if sometimes
The short distance of comparison, reach target location also spend the time, reach target velocity spend the time, spend auto-focusing when
Between, sound is produced due to unstable driving.
The present invention is to complete in light of this situation, and its object is to there is provided prevent from making when the work of camera lens starts
The unstable lens driving apparatus of driving and lens driving method of camera lens.
Means for solving the problems
The lens driving apparatus of the 1st mode of the present invention has：Stepper motor, it is driven to camera lens；Position instruction
Portion, it indicates the rotation position of above-mentioned stepper motor；Rotation sensor, it detects the rotation position of above-mentioned stepper motor；
And delayed calculating part is followed the trail of, it refers to according to the position detection information detected by above-mentioned rotation sensor with above-mentioned position
Show that the difference for the positional information that portion is indicated is calculated and follow the trail of delayed, above-mentioned position instruction portion is allowed hand over to be carried out with pre-determined pattern
The opened loop control of position instruction and the closed-loop control according to the delayed progress position instruction of above-mentioned tracking, are opened in the work of above-mentioned camera lens
The speed for making the position of stepper motor advance according to fixed velocity mode change using opened loop control during the beginning and acceleration, when with
The corresponding speed of above-mentioned velocity mode is reached after setting, is transferred to closed-loop control.
In the lens driving method of the 2nd mode of the present invention, lens driving apparatus has the step being driven to camera lens
The rotation sensor of the rotation position of stepper motor and the above-mentioned stepper motor of detection, wherein, the lens driving method tool
There are following steps：The rotation position of above-mentioned stepper motor is indicated, is examined according to the position detected by above-mentioned rotation sensor
The difference of measurement information and above-mentioned indicated positional information, which is calculated, follows the trail of delayed, when indicating above-mentioned rotation position, allow hand over
Pre-determined pattern carries out the opened loop control of position instruction and according to the delayed closed-loop control for carrying out position instruction of above-mentioned tracking,
When the work of above-mentioned camera lens starts, the position of stepper motor is set to advance according to fixed velocity mode change using opened loop control
Speed and acceleration, after speed corresponding with above-mentioned velocity mode reaches setting, be transferred to closed-loop control.
Invention effect
In accordance with the invention it is possible to provide the lens driving for preventing making the driving of camera lens unstable when the work of camera lens starts
Device and lens driving method.
Brief description of the drawings
Fig. 1 is the block diagram of the structure for the camera for showing an embodiment of the invention.
Fig. 2 is the figure of the rotation position detection of the GMR for the camera for illustrating an embodiment of the invention.
Fig. 3 is the figure of the rotation position detection signal processing for the camera for illustrating an embodiment of the invention.
Fig. 4 is the figure of the effect of the feedback control in the camera for illustrate an embodiment of the invention.
Fig. 5 A~Fig. 5 C are the figures of the feedback control loop for the camera for illustrating an embodiment of the invention.
Fig. 6 is the block diagram of the structure of the phase compensation wave filter for the camera for showing an embodiment of the invention.
Fig. 7 is to show the speed wheel terminated since driving to driving in the camera of an embodiment of the invention
Wide figure.
Fig. 8 A~Fig. 8 C are the curve maps for illustrating drive control when existing stepper motor is used, and Fig. 8 A are to show not enter
The curve map of action during the constant speed driving of row feedback control, act when Fig. 8 B are the acceleration drivings for showing not carry out feedback control
Dynamic curve map, Fig. 8 C are the curve maps for showing the movement since driving in the case of progress feedback control.
Fig. 9 be show it is in the camera of an embodiment of the invention, set driving start when as fixed drive pattern
And the curve map of the movement after condition establishment in the case of progress feedback control.
Embodiment
Below, as an embodiment of the invention, the example applied to digital camera is illustrated.The photograph
The shot object image that eedle is formed to the optical lens in lens barrel portion, picture number is converted to by image pickup part by shot object image
According to, according to the view data after the conversion, live view shows shot object image in the display part for being configured at the main body back side, and
And, the view data of still image and dynamic image is recorded in the recording medium.The linkage such as operate with the half-press of release button, enter
Focus detection of the row based on contrast method or phase difference method etc., according to the result of focus detection, is made by the driving of stepper motor
Optical lens is moved to focusing position.
When optical lens is moved to focusing position, when driving beginning, with pre-determined pattern, pass through opened loop control
(also referred to as " both open loop control " or " Open control ") carries out the driving of stepper motor, and setting is reached when meeting actuating speed
After rated condition, the driving of stepper motor is carried out (referring for example to Fig. 5 A's by closed-loop control (also referred to as " feedback control ")
FB starts determination processing, Fig. 7 feedback control and starts time point T2).
Below, with reference to the accompanying drawings, a preferred embodiment is illustrated using the camera for applying the present invention.Figure
1 is the mechanical structure in the lens driving portion for the camera for showing an embodiment of the invention and the lens driving with camera
The block diagram of relevant essential electrical structure.
Lens driving portion 1 is configured in the replacing camera lens of the one-piece type camera of camera lens or lens exchange type camera.
There is optical lens (hereinafter referred to as " camera lens ") 2, camera lens frame 3, leading axle 4a, 4b, spring 5, stepping electricity in lens driving portion 1
Machine 6, leading screw 7, magnetic scale 8, GMR (Giant Magneto Resistive Effect：Giant magnetoresistance effect) sensor 9, light hide
Disconnected device 10.
Camera lens 2 has a multiple or optical lens, forms shot object image.Camera lens 2 is maintained on camera lens frame 3.Leading axle
4a and leading axle 4b are the axles along the optical axis direction extension of camera lens 2, are fixed on camera lens picture frame etc..Spring 5 is extension spring,
Between the fixed component for being arranged on camera lens frame 3 and camera lens picture frame, the active force in figure towards right side is assigned to camera lens frame 3.
The camera lens frame 3 has the fixed part 3a upwardly extended in the side vertical with the optical axis direction of camera lens 2 and consolidated with this
Determine portion 3a to be integrally formed and be entrenched in the fitting portion 3b on leading axle 4b.Also, camera lens frame 3 had for running through that leading screw 7 runs through
Hole 3c and cover blade 3e.Cover blade 3e is integrally formed with fixed part 3a, is arranged on a fixed part 3a side.Such as rear institute
State, when camera lens 2 is moved to reference position, cover blade 3e carries out shading to the light of the illuminating part projection from Photo Interrupter 10.
Stepper motor 6 receives the pulse letter for the two-phase being made up of A phases, B phases from motor-drive circuit (motor driver) 24
Number be used as motor drive signal, carry out rotation driving.Stepper motor 6 is the stepper motor being driven to camera lens.Stepper motor 6
Rotation driving axle be integrally formed with leading screw 7.Therefore, leading screw 7 is carried out just according to the motor drive signal for being applied to stepper motor 6
Turn, invert.When leading screw 7 is forwarded and reversed, via the nut 11 engaged with leading screw 7, camera lens 2 is moved along optical axis direction.
The nut 11 and camera lens frame 3 are separated.Camera lens frame 3 is stretched towards Fig. 1 right side by spring 5, as being supported around through hole 3c
Lean against the state on the nut 11 engaged with leading screw 7.The rotation stop part (not shown) of nut 11 is arranged on camera lens frame 3, so, when
When leading screw 7 rotates, nut 11 is to the right or left direction is moved, and the camera lens frame 3 being resisted against on the nut 11 is also moved in the direction of the optical axis
It is dynamic.
Magnetic scale 8 is provided integrally at a side of leading screw 7, circumferentially face alternating strips magnetic S poles and N poles.GMR 9
Configuration exports two phase signals in the position opposed with magnetic scale 8 according to the magnetic field by the S poles of magnetic scale 8, the generation of N poles.Pass through magnetic scale 8
With GMR 9, the relatively rotation place (relative position of the optical axis direction of camera lens 2) of stepper motor 6 can be detected.Magnetic scale 8
With rotation sensor function of the GMR 9 as the rotation position of detection stepper motor.Chatted in detail using Fig. 2
State the rotation position detection based on magnetic scale 8 and GMR 9.
Photo Interrupter 10 is fixed on camera lens picture frame etc., with illuminating part and light accepting part.When camera lens 2 is moved to reference position
When, the light projector for carrying out self-luminescent part is blocked blade 3e shadings.When light accepting part turns into shading status, exporting change, thereby, it is possible to
Camera lens 2 is detected positioned at reference position.That is, by cover blade 3e and Photo Interrupter 10, it is capable of the absolute position of detector lens 2
Put.Position detection signal from Photo Interrupter 10 is output to I/O port 32.
So, in the lens driving portion 1 of present embodiment, spiral shell is made by the rotation of the leading screw 7 driven by stepper motor 6
Mother 11 moves linearly, and camera lens frame 3 is moved along leading axle 4a, 4b.Thus, the camera lens 2 on camera lens frame 3 is fixed in optical axis side
Drive up.Also, in the front end of leading screw 7, magnetic scale 8 is installed in the position opposed with GMR 9, when leading screw is carried out just
When turning or inverting, magnetic scale 8 also rotates to equidirectional.
The output of GMR 9 is connected with amplifying circuit 21.Amplifying circuit 21 amplifies two from GMR 9 respectively
The analog sensor output signal of phase, carries out the noise removal process of sensor signal.By amplifying circuit 21 handle after amplification
Sensor signal is output to A/D converter 33 and binarization circuit 22.
Binarization circuit 22 carries out binaryzation to the sensor output signal of the two-phase from amplifying circuit 21 respectively, to
Upper/output two-value signal of Down-counter (two-phase counter) 34.In binaryzation, the input of binarization circuit 22 comes from D/A
The threshold voltage of converter 35, binaryzation is carried out using the threshold voltage.
Microcomputer 30 has CPU (Central Processing Unit) 31 and its peripheral circuit, carries out lens driving
Overall control.Specifically, microcomputer 30 is for example according to the various signal generation stepper motors 6 from lens driving portion 1
Driving various signals.As peripheral circuit, IO (Input/Output) port 32, A/D (Analog/ are provided with
Digital) converter 33, up/down counter 34, D/A (Digital/Analog) converter 35, impulse generator 36,
COM1 37, timer 38, memory 39.
I/O port 32 detects signal from the input position of Photo Interrupter 10, and according to the position detection signal, table is exported to CPU31
Show that camera lens 2 is located at the signal of reference position.
A/D converter 33 inputs the amplification sensor signal of A phases and B phases from amplifying circuit 21, and AD is carried out to each signal
Conversion, is converted to numerical data by the amplification sensor signal of A phases and B phases and is output to CPU31.
D/A converter 35 inputs the digital value suitable with threshold voltage from CPU31, is converted into analog voltage, as
Threshold voltage is output to binarization circuit 22.As being described below using Fig. 3, amplify the midpoint potential of sensor signal
Deviation is had according to the characteristic of GMR 9 and amplifying circuit 21.Therefore, in advance using the midpoint potential of A phases and B phases as
Adjusted value is stored in memory 39, and binarization circuit 22 uses the midpoint potential as threshold voltage and carries out binaryzation.
Up/down counter 34 inputs two-value signal from binarization circuit 22, carries out up/down counting.GMR is passed
Sensor 9 exports A phases and B phase sensor signals, and up/down counting is carried out whenever two-value signal is inputted.Thereby, it is possible to sentence
It is that rotating forward or reversion, i.e. camera lens 2 are moved to which direction to determine magnetic scale 8.
Memory 39 has volatile memory (such as DRAM (the Dynamic Random Access for being capable of electricity rewriting
Memory) etc.) and it is capable of nonvolatile memory (such as flash rom (Flash Read Only Memory) that electricity is rewritten
Deng).Be stored with memory 39 for performed by CPU31 program, camera lens various adjusted values (for example with the midpoint electricity
The relevant value in position), the various data such as the setting value of lens driving.
Timer 38 produces the controlling cycle of feedback control, carries out the time of the various actions correlation for determining camera lens
Timing is acted.Also, with calendar function etc..COM1 37 is for the outside port for exchanging signal with CPU31.At this
In embodiment, various communications are carried out via COM1 37, are set for example, being sent out from COM1 37 to motor-drive circuit 24
Determine signal.
Impulse generator 36 receives the control signal from CPU31, and generation exports to carry out the driving of stepper motor 6
To the clock signal (pulse signal) of motor-drive circuit 24.That is, impulse generator 36 exports clock to motor-drive circuit 24
Signal, makes the on-position of stepper motor advance.
Motor-drive circuit 24 receives the supply of supply voltage from motor power 23, and inputs from impulse generator 36
Clock signal and setting signal from COM1 37, the electricity being made up of the voltage signal of two-phase is exported to stepper motor 6
Machine drive signal.Also, motor-drive circuit 24 is in the output of motor drive signal, according to the setting signal from CPU31
The maximum for carrying out motor drive signal applies alive adjustment.Motor power 23 has the power supplys such as battery, by (not shown) fixed
Volt circuit etc. carries out level pressure, and power supply is supplied to motor-drive circuit 24.
In the generation of motor drive signal, the sensing that the CPU31 in microcomputer 30 is detected according to GMR 9
Device output signal carries out computing, carries out the management, the setting of actuating speed, driving of the driving pulse that motor-drive circuit 24 is exported
The various calculation process of numerical data required for the setting of voltage, feedback control.
Also, CPU31 has the function as control unit, the rotation position of stepper motor is indicated, also, according to by rotating
It is delayed (for example that the difference for the positional information that the position detection information and position instruction portion that detection sensor is detected are indicated calculates tracking
Reference picture 5A #3 Difference Calculation processing).The control unit is allowed hand over carries out opening for position instruction with pre-determined pattern
Ring controls and according to the delayed closed-loop control for carrying out position instruction is followed the trail of, when the work of camera lens starts, utilizes opened loop control root
The speed for making the position of stepper motor advance according to fixed velocity mode change and acceleration, when speed corresponding with above-mentioned velocity mode
Degree is reached after setting, is transferred to closed-loop control.
Then, the rotation detection of the magnetic scale 8 in present embodiment is illustrated using Fig. 2.Installed in stepper motor 6
Columnar magnetic scale 8 in rotary shaft is in a circumferential direction alternately using at equal intervals repeatedly by magnetic as N poles and S poles.Work as stepping
During the rotary shaft rotation of motor 6, the position of the magnetic pole opposed with GMR 9 changes.As a result, from GMR 9
The A phase of phase difference and the sine wave signal of B phase of the output with substantially 90 degree are used as sensor output signal.For example in magnetic scale 8
In the case that the direction of a into figure rotates, as shown in Fig. 2 obtaining the letter of the phase relation of 90 degree advanced relative to A phases of B phases
Number, in the case where magnetic scale 8 rotates to b direction, obtain the signal of phase relation of the B phases relative to A phase quadrature laggings.
Then, pulse detection processing is illustrated using Fig. 3.Exported by 21 pairs of amplifying circuit from GMR 9
The sine wave signal of A phases and B phases is amplified, and is output to A/D converter 33 and binarization circuit 22.A/D converter 33 is by A phases
The respective amplification sensor signal of B phases is converted to numerical data.There is GMR sensings in the midpoint potential of amplification sensor signal
The individual deviation of the characteristic and the grade of amplifying circuit 21 of device 9.Therefore, the respective midpoint potential of A phase B phases is stored as adjusted value in advance
In memory 39, according to the signal for being converted to the GMR after numerical data 9, the cycle of A phase B phases is finely divided,
Calculating resolution is detected with driving pulse identical to be used in the calculating process of pulse value (at the multiplication in CPU31
Manage 31a).
Also, the adjusted value relevant with midpoint potential also serves as the binaryzation electricity that binaryzation is carried out to amplification sensor signal
The threshold voltage on road 22.That is, adjusted value is set in D/A converter 35, the respective threshold voltage of A phase B phases is output to two-value
Change circuit 22.Thus, there is individual deviation in the midpoint potential of amplification sensor signal, can also obtain dutycycle big
About 50% preferable two-value signal, can be counted exactly in up/down counter (2 phase counter) 34
Up/down.
The numerical data for the A phase B phases that arithmetic processing section (CPU31) in microcomputer 30 is taken into using A/D converter 33,
Carry out, than the multiplication processing (with reference to multiplication processing 31a) 4 times big in A phase B phase a cycles, a cycle being sub-divided into pulse
Resolution ratio required for management.The value of detection pulse is calculated essentially according to phase angle obtained from carrying out the subdivision.That is, count
Calculate the value of the detection pulse for the rotation position (phase angle) for representing magnetic scale 8 (with reference to pulse value computing 31c).
But, the processing is for example carried out with the controlling cycle of feedback control, so, the actuating speed of motor accelerates, by
Take numerical data that each controlling cycle is taken into from last time be taken into when light 1/2 situation more than A picture B phase a cycles
Under, it is impossible to correctly judge the direction of change.Therefore, including the change direction comprising two-value signal, using carry out all the time to
The count value of the up/down counter (two-phase counter) 34 go up/counted downwards, more than the 1/2 of A phase B phase a cycles
In the case of, be also appropriately determined direction, correct detection pulse is calculated all the time (with reference to pulse value computing 31c).But, it is actual
On, due to the characteristic deviation or the output error etc. of D/A converter of binarization circuit, in the change opportunity of two-value signal and phase
Small deviation is produced in the change opportunity of parallactic angle.Due to the deviation, error is produced in the calculating of detection pulse, is calculated sometimes
Detection pulse value instantaneous variation and the suitable degree in 90 degree of phase angle gone out.Therefore, by carrying out the change with phase angle in advance
The computing (correcting 31b with reference to count value) of the count value of up/down counter is corrected on the basis of opportunity, is correctly counted all the time
Detection pulse is calculated, without being influenceed by circuit deviations etc..
So, the significantly increase and decrease of detection pulse is carried out on the basis of two-value signal, according to what is be taken into by A/D converter 33
The numerical datas of A phase B phases carry out to being finely divided in a cycle after detailed detection pulse calculating, thereby, it is possible to begin
The value of correct detection pulse is obtained eventually, is influenceed without the actuating speed and controlling cycle by motor.
Then, the feedback control in present embodiment is illustrated using Fig. 4.In Fig. 4, transverse axis is stepper motor
Actuating speed, the longitudinal axis is torque, shows torque curve.Pull-out torque characteristic L1 shown in solid represents that stepper motor 6 enters action
The breakdown torque made without causing step-out.
That is, the characteristic of stepper motor 6 is with when actuating speed is improved, the characteristic that torque is reduced, when pull-out torque characteristic
During less than load torque, cause step-out phenomenon.Once the amount for after step-out, making on-position change and the change of the rotation position of motor
Change amount is inconsistent, so, stepper motor can not using so that on-position change amount come make value increase and decrease number of drive pulses, it is right
Current location is managed.In order to correctly manage current location again, it is necessary to be temporarily set as base after step-out
Accurate position, or pass through the action of the sensor guarantee absolute position additionally set.Therefore, it is in common step motor control
In Open control, sufficient safety coefficient α is estimated for the maximum load torque in design, the upper limit of actuating speed is determined.
Therefore, in the present embodiment, using following feedback control：Detected according to the rotary shaft from stepper motor 6
Detection pulse (being detected according to the output of GMR 9) and make on-position change driving pulse (be applied to stepping
The driving pulse of motor 6) difference, monitor relative to the step-out limit surplus capacity, speed is controlled such that will not step-out.
Thereby, it is possible to improve the upper limit of speed using the amount of safety coefficient (speed control of reference picture 4 expands scope Vc).
Also, Fig. 4 shows to be applied to the pull-out torque characteristic in the case of the voltage constant of stepper motor 6.When making application
During application voltage change to stepper motor 6, pull-out torque characteristic changes on Fig. 4 y direction.In Open control, it is
Speed limit is improved as far as possible, safety coefficient is estimated in the characteristic under the maximum voltage that can apply, and determines speed (reference picture
4 Open control upper limit speed Vomax).Therefore, apply voltage fix and independent of load, in the state of light load,
Motor also consumes electric power more than necessity.
On the other hand, in the case of feedback control, speed limit (the feedback control of reference picture 4 of feedback control is being reached
Upper limit speed Vfmax processed) in the state of, in the case where actual load is less than design maximum load torque etc., in addition in phase
In the case of there is surplus capacity for the step-out limit, voltage control (the control reference voltage Ec of reference picture 4) is carried out.Accordingly, it is capable to
Low applied voltage is enough dropped, extra power consumption can be suppressed.Specify below feedback control upper limit speed Vfmax speed
Situation similarly, for example, in the case where being driven with Open control upper limit speed Vomax, in actual load and design
In the state of maximum load torque is equal, before pull-out torque characteristic turns into L2, low applied voltage can drop.According to load
Change and carry out feedback control to applying voltage, thus it is possible to prevent step-out and suppress power consumption.
Then, the control ring in present embodiment is illustrated using Fig. 5 A~Fig. 5 C.Fig. 5 A~Fig. 5 C show each
In the handling process in feedback control cycle, figure, CPU31 is according to the program stored in memory 39, to each in microcomputer 30
Each portion in portion and camera is controlled, and is thus performed beyond GMR 9, motor-drive circuit 24, stepper motor 6
It is labelled with # block.
In control ring, first, according to each controlling cycle, according to the position for from position sensor being GMR 9
Signal (sensor output signal) is detected, the position detection process illustrated by using Fig. 3 obtains the detection for representing current location
Pulse value (#1).That is, the phase according to obtained from the numerical data of the A phase B phases to being taken into as A/D converter 33 carries out multiplication processing
Parallactic angle, calculates detection pulse value.
Then, to the driving pulse value based on current on-position since driving variable quantity and detection pulse value from
Drive the variable quantity started to be compared, regard the difference as tracking delayed (#3).Here, in aftermentioned #11, generating is used for
The signal changed to the current on-position of stepper motor 6, while the change management of pulse value is driven, so, ask
Go out the driving pulse value and the difference of the detection pulse value calculated in #1.The Difference Calculation processing of the #3 is as according to by rotating
The positional information that the position detection information that detection sensor is detected is indicated with position instruction portion (such as aftermentioned #11 processing)
The difference of (such as driving pulse value), which is calculated, follows the trail of the delayed delayed calculating part of tracking and follows the trail of delayed calculation procedure function.
Then, delayed and the 1st hysteresis (target tracking is delayed) the difference i.e. control deviation (#5) of tracking is obtained.1st is delayed
Amount is stored in advance in memory 39 as target tracking hysteresis.As the 1st hysteresis, appropriate setting, for example, setting
Surely the half degree for causing the tracking of step-out delayed.Here, calculate the tracking calculated in #3 it is delayed with it is the set 1st delayed
The difference of amount, regard the value as control deviation.Speed control and voltage control are carried out according to the control deviation and (follow the trail of delayed the
One purposes).
On the other hand, it is delayed to tracking to be compared with the 2nd hysteresis (temporarily cease benchmark and follow the trail of delayed), it is stagnant following the trail of
Be more than afterwards temporarily cease benchmark follow the trail of it is delayed in the case of, carry out the temporarily ceasing of on-position change (Fig. 5 C #25) (tracking
Second delayed purposes).As the 2nd hysteresis, appropriate setting, for example, being set to than causing the tracking of step-out delayed slightly
Small degree.2nd hysteresis is the value bigger than the 1st hysteresis.
Carry out temporarily ceasing after judgement in #25, on-position is changed to the excitation position for temporarily ceasing and indicating to be delivered to #11
Change signal generation processing is put, stops, to the output on-position change signal of motor-drive circuit 24, carrying out the temporary of stepper motor 6
When stop.By being temporarily ceased, even if making feedback control unstable due to unexpected external interference, it can also make step
The rotary shaft of stepper motor 6 tracking it is delayed reliably returned to relative to current on-position can control in the range of.Root
According to the delayed recovery of tracking and the elapsed time on the basis of controlling cycle, the judgement of the releasing temporarily ceased.
The delayed and aftermentioned #11 of tracking calculated in input #3 current on-position change speed, is made whether to start
The determination processing (following the trail of the 3rd delayed purposes) (#15) of feedback.From starting after driving, when current on-position change speed
During more than feedback control lower limit speed, FB start determination processing #15 indication feedbacks control beginning (Fig. 7 A, T1, Fig. 9 A,
T11).Also, when the delayed absolute value of tracking or variable quantity exceed setting, the beginning that same indication feedback is controlled be (Fig. 7's
B, T2, Fig. 9 B, T12).The instruction that starts of the feedback control is output to on-position change speed limitation processing #9 and maximum
Excitation voltage indicates processing #23.Feedback control lower limit speed is to make velocity variations in feedback control so that cause will not step-out
The speed of lower limit.
The control deviation generated in #5 by speed control with and voltage control dual system phase compensation filter
(#7, #21) and respectively become on-position change speed increase and decrease indicated value and maximum excitation voltage increase and decrease indicated value.Speed control
It is described below with phase compensation filter (#7) and voltage control with phase compensation filter (#21) using Fig. 6.
By #7 speed control handled with phase compensation filter after on-position change speed increase and decrease indicated value with work as
Preceding on-position change speed is added, as new on-position change speed indicated value.Start to enter in determination processing #15 in FB
In the case of row feedback control, the on-position change speed indicated value and speed limit are compared, on-position is carried out
Change speed limitation handles (#9).
In #9, the #17 formation speed upper limits are handled by acceleration/deceleration schema creation.Acceleration/deceleration pattern is to from driving
Start the acceleration control to stopping, constant speed control, deceleration control etc. to be managed.Acceleration/deceleration pattern is stored in advance in storage
In device 39.In #17, in the acceleration/deceleration pattern stored from memory 39, read and the driving since the driving of position
The corresponding speed of variable quantity of pulse value is used as speed limit.
In #9 limitation processing, the on-position change speed increase and decrease indicated value generated in #7 and working as currently setting
New on-position change speed indicated value after preceding on-position change speed addition is more than the speed limit read in #17
In the case of, carry out the limitation processing of on-position change speed indicated value.Thus, speed is made except needing to make the delayed increase of tracking
Beyond the situation for spending reduction, speed control can be carried out according to pre-determined velocity profile.And then, it can prevent in accelerated period
Between in or slow down during medium velocity excessively improve, the acceleration/deceleration that can be stablized.
In addition, in #9 limitation processing, monitoring on the maximum excitation voltage for indicating processing #23 from maximum excitation voltage
It is limited to reach state, is that reduction is worked as in on-position change speed indicated value in the state of maximum excitation voltage is not up to the upper limit
In the case of the value in the direction of preceding on-position change speed, without the addition of on-position change speed indicated value, output
Current on-position change speed is used as new on-position change speed indicated value.Added especially by when accelerating at this
Reason, the speed reduction that maximum excitation voltage can be prevented to be not up in the state of the upper limit, can shorten the acceleration time.
And, although do not illustrate, still, set than feedback control lower limit speed Vfmin (references in Fig. 5 A~Fig. 5 C
The limit of low speed side Fig. 7) is more leaned on, in feedback control, setting speed will not excessively reduce necessity above degree, and control will not
It is stable.
Also, it is judged to not starting the situation of feedback control (carrying out Open control) in FB starts determination processing #15
Under, the velocity mode generated in being handled according to #17 acceleration/deceleration schema creation exports on-position change speed indicated value.
According to, by limiting the on-position change speed indicated value for handling and generating, progress on-position changes letter in #9
Number generation processing, is exported (#11) as the on-position change signal for motor-drive circuit 24.Specifically, use
The marginating compartment of the clock signal on the opportunity changed in instruction to the on-position of the stepper motor 6 is according to on-position
Change speed indicated value and be changed.
Also, in on-position change signal generation processing #11, driving pulse value is generated, the difference is output to
Divide and calculate #3 and acceleration/deceleration schema creation processing #17.And then, on-position is changed what is generated in signal generation processing #11
Current on-position change speed is output to FB and starts determination processing #15.
The on-position change speed of the #9 limits processing and #11 on-position change signal generation processing is used as and referred to
Show position instruction portion and the position instruction step function of the rotation position of stepper motor.The position instruction portion and position instruction
Step is allowed hand over carries out the opened loop control of position instruction and according to the delayed carry out position instruction of tracking with pre-determined pattern
Closed-loop control, when the work of camera lens starts, using opened loop control according to fixed velocity mode to making the position of stepper motor
The speed for putting advance is changed and accelerated, and after speed corresponding with velocity mode reaches setting, is transferred to closed-loop control.
The setting is the lower limit for the speed that can be controlled in closed-loop control (referring for example to Fig. 7 lower control limit speed Vfmin).
Also, position instruction portion makes speed corresponding with velocity mode reach setting, also, according to the delayed amount of tracking
Or change and be transferred to closed-loop control (being judged for example, #15 FB starts determination processing according to #3 tracking is delayed).And
And, position instruction portion reaches the corresponding to the big speed of speed more corresponding than with setting in speed corresponding with velocity mode
After 2 settings, receive the FB from #15 and judge that instruction is connected in the FB controls of start to process, be transferred to closed-loop control.2nd regulation
Value is equal with the upper limit speed (reference picture 4 and Fig. 7, Fig. 9 Open control upper limit speed Vomax) in Open control, still,
Can be below the upper limit speed.
Also, position instruction portion utilizes closed-loop control so that the target velocity (example for the speed that the position of stepper motor is advanced
As reference picture 9 target velocity Vob) be driven in the case of, after closed-loop control is transferred to, reach target velocity it
Before, according to the pattern of the corresponding fixation of the upper limit of the speed with that can be controlled using closed-loop control, limitation makes stepper motor
Position advance speed (referring for example to the speed limit generated in #17).Also, position instruction portion is chased after according to closed-loop control
The difference of the desired value of track hysteresis and tracking hysteresis carries out closed-loop control.
On the other hand, the maximum excitation voltage to being handled and being exported with phase compensation filter #21 by voltage control
Increase and decrease indicated value and implement maximum excitation voltage instruction processing, output maximum voltage indicated value (Fig. 5 C #23).Maximum herein
In excitation voltage instruction processing, started by FB in the case that determination processing #15 is judged to having started feedback control, maximum is encouraged
Magnetoelectricity pressure increase and decrease indicated value is added with current maximum excitation voltage setting value and turns into maximum voltage indicated value.In maximum excitation
In voltage instruction processing, calculated maximum voltage is set in motor-drive circuit 24 via COM1 37 (reference picture 1)
Indicated value.By the setting, the driving voltage being driven to stepper motor 6 is changed according to each controlling cycle.
In maximum excitation voltage indicates processing #23, by for being entered according to temperature to the voltage for being applied to stepper motor 6
The upper voltage limit of row limitation and the lower voltage limit for making feedback control stabilization, carry out limitation processing.In addition, disconnected in feedback control
In a period of opening, maximum voltage indicated value is fixed on for being limited the voltage for being applied to stepper motor according to temperature
Voltage limit, as the state that ensure that the safety coefficient for step-out.And then, in maximum excitation voltage indicates processing #23, output
Whether current maximum voltage indicated value reaches the state of upper voltage limit.
So, in the control ring of present embodiment, stepper motor 6 is detected according to the output signal from GMR 9
Rotation position, according to the detection information (detection pulse) of the rotation position with based on the driving pulse for being applied to stepper motor 6
The Difference Calculation of positional information follow the trail of hysteresis (with reference to #3).Using the tracking hysteresis and for indicating stepper motor 6
The current on-position change speed of speed change, determines whether to start feedback control (#15).
Also, in control ring, in on-position change speed limitation processing (#9) and on-position change signal generation
Handle in (#11), the control of stepper motor 6 is independently carried out with the output signal from GMR, until passing through #15's
FB start determination processing be determined as start feedback control untill.That is, according to velocity mode set in advance, entered by Open control
Row driving.In this case, being in the torque of design maximum load and Open control shown in Fig. 4 as driving torque and actuating speed
Below speed limit degree Vomax control.
On the other hand, after the FB by #15, which starts determination processing, is judged to starting feedback control, passed using from GMR
The output signal of sensor 9 carries out feedback control.That is, control deviation is obtained according to tracking hysteresis, adjusted according to the control deviation
For the marginating compartment of the clock signal of motor-drive circuit 24, actuating speed (the on-position change letter of stepper motor 6 is adjusted
Number generation processing #11).In this case, turning into the pull-out torque characteristic L1 and feedback shown in Fig. 4 in driving torque and actuating speed
Before below upper control limit speed Vfmax, control range broadens.
Then, phase compensation is illustrated with wave filter using Fig. 6.The phase compensation wave filter as CPU inside
Program installed, be made up of numerical operation formula.The phase compensation wave filter by one or can also be disposed on micro-
DSP (Digital Signal Processor) in computer 30 is constituted.In Figure 5, mended in #7 speed control with phase
Repay wave filter and #21 voltage control with phase compensation filter using the phase compensation wave filter.
It is that control deviation is input into speed control and used and voltage control use with the delayed difference of target tracking to follow the trail of delayed
Dual system phase compensation wave filter, increase and decrease indicated value, maximum excitation voltage respectively as on-position change speed and increase
Subtract indicated value to be exported.
The phase compensation filter of speed control is made up of speed control wave filter 41,42,47 and adder 45, control
Deviation processed turns into addition value via speed control wave filter 41,42, respective output in adder 45, and then, via speed
Control is spent to be exported as on-position change speed increase and decrease indicated value with wave filter 47.
The phase compensation filter of voltage control is made up of voltage control wave filter 43,44,48 and adder 46, control
Deviation processed turns into addition value via voltage control wave filter 43,44, respective output in adder 46, and then, via electricity
Voltage-controlled system is exported with wave filter 48 as maximum excitation voltage increase and decrease indicated value.
Speed control wave filter 41,42,47, VCF video controlled filter 43,44,48 are respectively by the FIR of 2 taps
(Finite Impulse Response Filter) wave filter and IIR (the Infinite Impulse Response of 2 taps
Filter) wave filter is constituted, and is configured to the whole independent parameters of setting, can be set and be suitable for speed control or voltage control
The phase compensation characteristic and gain characteristic of system.On specific filter tuner, as the stabilisation gimmick of feedback control, use
Various methods, so detailed description will be omitted.
Then, the velocity profile terminated since driving to driving is illustrated using Fig. 7.In the figure 7, transverse axis is shown
Time, the longitudinal axis shows speed, shows the velocity profile Po in Open control, the profile Pf of the speed limit in feedback control.
In Open control, the initial velocity Vmin set in the way of having relative to the pull-in torque of stepper motor 6 and having more than needed
Start to drive (moment T0), according to relative to step-out there is Open control accelerometer Tai fully more than needed speed is increased.In figure
In 7, the situation changed according to each predetermined pulse to speed is shown, however, it can be and put down relative to driving time
Change the acceleration of speed slidingly.
In the actuating speed (being Open control upper limit speed Vomax in Fig. 7) for reaching target afterwards (moment T3), consolidate speed
It is fixed, according to the stop position of target, make speed according to deceleration table Tad from the position (with reference to moment T5) before predetermined pulse number
Reduction, finally makes the excitation of stepper motor 6 mutually proceed to target location, terminates motor driving (with reference to moment T6).Indicating speed
Spend and indicated in the case of below Open control upper limit speed Vomax, equally to accelerate to after speed, speed is fixed on instruction speed
Degree.
It can be proceeded by from A of the actuating speed more than the lower limit speed Vfmin of feedback control time point (moment T1)
Feedback control.Here, if tracking (not shown) is delayed to be unsatisfactory for rated condition, at the B for the condition that the meets time point (moment
T2) it is transferred to feedback control.Feedback control in the case where B time point is transferred to feedback control is shown using shade in the figure 7
Speed control range in system.The control range is that the speed setting (Fig. 7 profile Pf1) in acceleration, constant speed are indicated into speed
Vfa (Fig. 7 profile Pf2), the speed of deceleration table set as the upper limit, make feedback control lower limit speed (Fig. 7 profile Pf3)
For the scope of lower limit.
From the time point (moment T2) for the B for meeting feedback control condition, according to adding for being stored to carry out feedback control
Speed during speed parameter computing accelerates is set.When slowing down (with reference to moment T4), according to the stop position of target, from regulation arteries and veins
Punching nearby rises, according to deceleration table Tad reduction speed settings.For example in the time point (T5) less than Open control upper limit speed Vomax
Terminate feedback control.The opportunity for terminating feedback control is not limited to the example, under the feedback control the scope untill speed limit degree Vfmin
Interior appropriate setting.
In the case where A or B time point is unsatisfactory for being transferred to the condition of feedback control, as Open control upper limit speed
Vomax C time point forced branch is to feedback control.Thereby, it is possible to prevent the time untill reaching constant speed instruction speed Vfa from prolonging
It is long.
Then, the effect in present embodiment is illustrated using Fig. 8 A- Fig. 8 C and Fig. 9.First, schemed using Fig. 8 A-
8C is illustrated to Open control and existing feedback control.In Fig. 8 A~Fig. 8 C, transverse axis is the time, and the longitudinal axis shows driving speed
Spend and follow the trail of delayed, the Flim of the longitudinal axis shows to follow the trail of hysteresis limits, and Vob shows target velocity, and Fv shows chasing after under target velocity
Track is delayed.Also, solid line shows the change of actuating speed Dv1~Dv3 time, the delayed Fd1~Fd3 of tracking shown in phantom when
Between change.
Fig. 8 A show to make actuating speed Dv1 bring up to target speed without a break without feedback control, as driving starts
Spend Vob situation.In this case, follow the trail of delayed Fd1 produces overshoot after driving has just started, the movement of vibration is shown,
And amplitude is restrained, and is finally reached the delayed Fv of tracking of stable state.But, surpass overshoot part when target velocity is uprised
When crossing tracking hysteresis limits, even if the tracking under target velocity is delayed relative to hysteresis limits are followed the trail of with more than needed, mistake is also produced
Walk ST.
Fig. 8 B show without feedback control, start driving with initial velocity Vo, make during accelerating in Ta actuating speed Dv2 by
Gradually bring up to target velocity Vob situation.In this case, it is relatively low that the actuating speed after just starting will be driven to be set as, make
Speed is gradually increased to target velocity, thereby, it is possible to will drive the delayed overshoot of tracking after just starting be suppressed to compared with
It is low, it is finally reached the delayed Fv of tracking of stable state.Therefore, even if improving target velocity Vob, it can also avoid step-out and reach
Target velocity.
But, in the control shown in Fig. 8 B, without feedback control, it is therefore desirable near relative to target velocity
Follow the trail of hysteresis limits and estimate sufficient safety coefficient, it is difficult to improve target velocity., may be due to if not taking sufficient safety coefficient
Follow the trail of delayed and cause step-out.
Fig. 8 C show to carry out the situation of feedback control since driving.In this case, sets target speed Vob,
Carry out starting driving in the state of feedback control.It is not present in driving beginning time point and follows the trail of delayed, relative under target velocity
Follow the trail of it is delayed fully have it is more than needed, so, actuating speed Dv3 rises towards target velocity Vob without a break.Delayed Fd3 is followed the trail of to exist
The somewhat delayed opportunity that rises than actuating speed Dv3 starts increase, and overshoot is produced (reference picture 8A) when being driven such as constant speed
Amount.
After overshoot generation, actuating speed Dv3 reductions, to suppress overshoot by the work of feedback control,
But, speed is excessively reduced due to the skew between the delayed Fd3 of tracking opportunity.Therefore, if being not provided with driving speed
The limitation of Dv3 lower bound limit and driving direction is spent, then driving is temporarily ceased, or it is reversion to produce negative velocity as shown in Figure 8 C
Phenomenon (the label Ne in reference picture).So, if since driving start carry out feedback control, feedback control shakiness
It is fixed, it can not smoothly start action in a short time sometimes.
Fig. 9 shows the feedback control in present embodiment.In fig .9, transverse axis is the time, and the longitudinal axis shows actuating speed and chased after
Track is delayed, and the Vob of the longitudinal axis shows target velocity, and Flim shows to follow the trail of hysteresis limits, and Vomax shows Open control upper limit speed,
Vfmin shows feedback control lower limit speed.Also, solid line shows the change of actuating speed Dv time, tracking shown in phantom is stagnant
The change of Fd time afterwards.
Start driving in moment T10, assign the situation identical actuating speed with carrying out accelerating driving in Open control
Change.Therefore, follow the trail of delayed change overshoot is suppressed to as described above it is relatively low, will not step-out.At the A time point (moment
T11), when current on-position change speed exceedes feedback control lower limit speed Vfmin, (FB is opened the establishment of speed decision condition
Beginning determination processing #15).After speed decision condition is set up, allow hand over as feedback control.In this case, by acceleration pattern
Between the upper limit speed and lower limit speed Vfmin of limitation, speed can be controlled using feedback control.Even if also, mixed
Enter external interference and delayed increase to of tracking is followed the trail of near hysteresis limits Flim, can also control actuating speed Dv to avoid losing
Step.
Moreover, not only speed decision condition is set up, if time point (moment T12) in B, delayed relevant sentenced with following the trail of
Fixed condition establishment is transferred to feedback control after (the delayed absolute value of tracking or variable quantity exceed setting), and (FB starts at judgement
Manage #15), then herein in connection with the influence for the driving voltage control for being transferred to feedback control and starting, prevent tracking delayed drastically
Increase.Therefore, it is possible to more be stably transferred to feedback control.It is used to follow the trail of delayed with following the trail of delayed relevant decision condition
Delayed state of change of absolute value, tracking etc..In fig. 9, it shows stagnant as following the trail of more than feedback lower limit speed Vfmin
The situation of feedback control is transferred to during the direction of reduction afterwards.
As moment T13, after actuating speed Dv reaches target velocity Vob, Tb terminates during acceleration, is controlled by feeding back
System, maintains approximately fixed actuating speed, and it is delayed to there's almost no tracking.
So, in an embodiment of the invention, when the work of camera lens 2 starts, using opened loop control according to solid
Fixed velocity mode is to being changed the speed that the position of stepper motor is advanced and accelerating the (such as T10~T11 or T12 of Fig. 9
Before), closed-loop control (such as Fig. 9 T11 or T12~T13) is transferred to after rated condition is set up.Therefore, it is possible to prevent
The work of camera lens makes the driving of camera lens unstable when starting.
In addition, in an embodiment of the invention, GMR 9 is used to carry out rotation position detection, but
This or optical encoder etc. are not limited to, as long as it is capable of the position sensor of test position.
Also, in an embodiment of the invention, according to speed (current on-position change speed) and follow the trail of stagnant
Carried out the judgement that feedback control starts later (FB starts determination processing #15).But not limited to this or any one party,
Also, it can also be judged according to other conditions.
Also, in an embodiment of the invention, said as equipment for shooting using digital camera
It is bright, still, it can be digital single-lens reflex camera or small digital camera as camera, can also be shooting
The camera of dynamic image as machine, video camera, and then, it can also be and be built in portable phone, smart mobile phone, portable letter
Cease the camera in terminal, personal computer (PC), Tablet PC, game station etc..In the case of any, as long as carry out
The equipment of the drive control of camera lens, then can be using the present invention.
Also, on the main control illustrated using flow chart in the technology that illustrates in this specification, in most cases can
Enough set, be also accommodated in recording medium or record portion sometimes using program.On recording in the recording medium, record portion
In recording method, can be recorded in product export, can also using issue recording medium, can also be via because of spy
Net is downloaded.
Also, on the motion flow in claims, specification and drawings, use " first " in order to easy, " connect
" etc. the word of performance order be illustrated, at the position being not particularly illustrated, it is not necessary to carried out according to the order real
Apply.
The invention is not restricted to above-mentioned embodiment, structure can be wanted in the range of its purport is not departed from implementation phase
Element is deformed and embodied.Also, being capable of shape by the appropriately combined of multiple structural elements disclosed in above-mentioned embodiment
Into various inventions.For example, it is also possible to delete several structural elements in the entire infrastructure key element shown in embodiment.And then,
Can be with the structural element in appropriately combined different embodiments.
Claims (14)
1. a kind of lens driving apparatus, it has：
Stepper motor, it is driven to camera lens；
Position instruction portion, it indicates the rotation position of above-mentioned stepper motor；
Rotation sensor, it detects the rotation position of above-mentioned stepper motor；And
Delayed calculating part is followed the trail of, it refers to according to the position detection information detected by above-mentioned rotation sensor with above-mentioned position
Show that the difference for the positional information that portion is indicated is calculated and follow the trail of delayed,
Above-mentioned position instruction portion, which is allowed hand over, to carry out the opened loop control of position instruction with pre-determined pattern and is chased after according to above-mentioned
The delayed closed-loop control for carrying out position instruction of track, when the work of above-mentioned camera lens starts, using opened loop control according to fixed speed
Degree mode altering makes the speed that the position of stepper motor advances and accelerated, when speed corresponding with above-mentioned velocity mode reaches regulation
After value, closed-loop control is transferred to.
2. lens driving apparatus according to claim 1, wherein,
Above-mentioned setting is the lower limit of the variable range for the speed being controlled using above-mentioned closed-loop control.
3. lens driving apparatus according to claim 1, wherein,
Above-mentioned position instruction portion reaches the situation of setting according to speed corresponding with above-mentioned velocity mode, and is chased after according to above-mentioned
The delayed amount of track or change and be transferred to above-mentioned closed-loop control.
4. lens driving apparatus according to claim 1, wherein,
Above-mentioned position instruction portion is transferred to above-mentioned closed loop control after speed corresponding with above-mentioned velocity mode reaches the 2nd setting
System, the 2nd setting corresponds to the big speed of speed more corresponding than with above-mentioned setting.
5. lens driving apparatus according to claim 4, wherein,
Above-mentioned 2nd setting is more than above-mentioned setting and is less than the upper of the variable range for the speed being controlled using opened loop control
Limit.
6. lens driving apparatus according to claim 1, wherein,
The target speed for the speed that above-mentioned position instruction portion setting makes the position of above-mentioned stepper motor advance using above-mentioned closed-loop control
Degree,
After above-mentioned closed-loop control is transferred to, untill above-mentioned target velocity is reached, according to above-mentioned closed loop control can be utilized
The pattern of the corresponding fixation of the upper limit for the speed being controlled is made, limitation makes the speed that the position of above-mentioned stepper motor is advanced.
7. lens driving apparatus according to claim 1, wherein,
Above-mentioned position instruction portion is entered according to the difference of the tracking hysteresis of above-mentioned closed-loop control and the desired value of above-mentioned tracking hysteresis
The above-mentioned closed-loop control of row.
8. a kind of lens driving method of lens driving apparatus, the lens driving apparatus has the stepping electricity being driven to camera lens
The rotation sensor of the rotation position of machine and the above-mentioned stepper motor of detection, wherein, the lens driving method have with
Lower step：
The rotation position of above-mentioned stepper motor is indicated,
Calculated according to the difference of the position detection information and the positional information of above-mentioned instruction detected by above-mentioned rotation sensor
Follow the trail of delayed,
When indicating above-mentioned rotation position, allow hand over pre-determined pattern carry out position instruction opened loop control and according to
The delayed closed-loop control for carrying out position instruction of above-mentioned tracking, when the work of above-mentioned camera lens starts, using opened loop control according to solid
Fixed velocity mode changes the speed for making the position of stepper motor advance and accelerated, when speed corresponding with above-mentioned velocity mode reaches
To after setting, closed-loop control is transferred to.
9. lens driving method according to claim 8, wherein,
Above-mentioned setting is the lower limit of the variable range for the speed being controlled using above-mentioned closed-loop control.
10. lens driving method according to claim 8, wherein,
When indicating above-mentioned rotation position, the situation of setting, and root are reached according to speed corresponding with above-mentioned velocity mode
Above-mentioned closed-loop control is transferred to according to the delayed amount of above-mentioned tracking or change.
11. lens driving method according to claim 8, wherein,
When indicating above-mentioned rotation position, after speed corresponding with above-mentioned velocity mode reaches the 2nd setting, it is transferred to above-mentioned
Closed-loop control, the 2nd setting corresponds to the big speed of speed more corresponding than with above-mentioned setting.
12. lens driving method according to claim 11, wherein,
Above-mentioned 2nd setting is more than above-mentioned setting and is less than the upper of the variable range for the speed being controlled using opened loop control
Limit.
13. lens driving method according to claim 8, wherein,
When indicating above-mentioned rotation position, the speed that makes that the position of above-mentioned stepper motor advances is set using above-mentioned closed-loop control
Target velocity,
After above-mentioned closed-loop control is transferred to, untill above-mentioned target velocity is reached, according to can be in above-mentioned closed-loop control
In the pattern of the corresponding fixation of the upper limit of speed that is controlled, limitation makes the speed that the position of above-mentioned stepper motor is advanced.
14. lens driving method according to claim 8, wherein,
When indicating above-mentioned rotation position, according to the tracking hysteresis of above-mentioned closed-loop control and the desired value of above-mentioned tracking hysteresis
Difference carry out above-mentioned closed-loop control.
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| JP2016-014587 | 2016-01-28 | ||
| JP2016014587A JP2017134269A (en) | 2016-01-28 | 2016-01-28 | Lens drive device and lens drive method |
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| CN107015420A true CN107015420A (en) | 2017-08-04 |
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| US (1) | US10721387B2 (en) |
| JP (1) | JP2017134269A (en) |
| CN (1) | CN107015420A (en) |
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| CN109407260A (en) * | 2018-12-11 | 2019-03-01 | 嘉兴中润光学科技有限公司 | A kind of closed-loop control device and closed loop control method of lens driving |
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| CN109991714A (en) * | 2018-01-03 | 2019-07-09 | 深圳光峰科技股份有限公司 | Atomatic focusing method, autofocus system and projection device |
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| CN110798106A (en) * | 2018-08-02 | 2020-02-14 | 格科微电子（上海）有限公司 | Driving method of electromagnetic motor |
| CN110365266A (en) * | 2018-10-12 | 2019-10-22 | 上海北昂医药科技股份有限公司 | Plurality of stepping motors control system based on ARM platform construction |
| CN109407260A (en) * | 2018-12-11 | 2019-03-01 | 嘉兴中润光学科技有限公司 | A kind of closed-loop control device and closed loop control method of lens driving |
| CN110138292A (en) * | 2019-04-30 | 2019-08-16 | 厦门汉印电子技术有限公司 | A kind of output torque control method, apparatus, equipment and the storage medium of stepper motor |
| CN111880283A (en) * | 2020-08-24 | 2020-11-03 | 长春通视光电技术有限公司 | Control system of zoom optical system |
Also Published As
| Publication number | Publication date |
|---|---|
| US10721387B2 (en) | 2020-07-21 |
| JP2017134269A (en) | 2017-08-03 |
| US20170223257A1 (en) | 2017-08-03 |
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